Hx1Menu.txt LCD Menus - MultiprogSx1, MultiprogSx2, MultiprogSx3 Hextor Program operation DLB 10 November 2001 ======================== The program is spread over 5 pages in the BS2sx 0 - Main 1 - Activities, sequenced behaviour 2 - Ultrasonic rule based behaviour 3 - reserved for user low level control of servos 4 - reserved for user 5 - reserved for user 6 - reserved for user 7 - Direct Keypad control of Hextor OPTIONS - PROGRAMS - Do IR Keys - use a standard IR remote-control OPTIONS - PROGRAMS - Do LCD Keys - use the LCDpad buttons MAIN(0) runs on Power-up or Reset(4 second minimum) --------------------------------------------------- Leds flash and beeper sounds when program ready and Yellow IR led will go out. Menu commands ------------- LEDs will flash when idle, routines can be interrupted by IR-signal or keypad. Button options - 'back' '<' '>' 'do'. Pressing 'back' first takes you back to the title of the current menu and then for the second level, back to the relevant item in the menu above, '<' takes you to the previous entry and '>' to the next. The menus do not wrap round so pressing '<' at the start will have no effect, likewise '>' at the end. When an item is displayed pressing 'do' will select that entry and if it is in the top menu will take you to the title entry for the sub menu or if it is in a sub menu will execute some action. To set a default DO - at option, press and hold 'do' button, press and release '>'. Old default DOs are automatically cleared when a new on is selected. To clear a default DO - at any option, press and hold 'do' button, press and release '<'. OPTIONS Activities US behaviour Programs Settings ACTIVITIES chirp1 A_beep2 A_wiggle1 jig about on the spot, flash leds, open/close gripper A_wiggle2 jig about on the spot A_wiggle3 jig about on the spot, single leg movements, sit-down, beep A_Qs4r170 quick, speed=4, ride=170 A_Ts0r200 tall, speed=0, ride=200 A_tround turn round on the spot A_beg at end sets speed to 4 A_Rface turn 45deg right A_Lface turn 45deg left A_F5 A_R5 A_L5 A_BR A_BL A_L3 A_R3 A_L2 A_R2 A_Iflash A_Fbump respond to Feelers if bumped jumps to A_blR, A_brL, A_bbB else ->Forward then jump to A_Fbump A_FbumpblR1 called if bumped left -> left LED on, turn Right, jump to A_Fbump A_FbumpbrL2 called if bumped right -> rightt LED on, turn Left, jump to A_Fbump A_FbumpbbB3 called if both bumped -> both LEDs on, go Back, jump to A_Fbump US BEHAVIOUR US_sitby sit down, if something nearish go up to it, and turn round US_beg sit down, while something is close beg US_hello sit down, if something nearish go up to it, beg three times, turn round US_wander forward avoiding obstacles US_user1 no rules written just beeps until 'back' pressed US_user2 no rules written just beeps until 'back' pressed US_user3 no rules written just beeps until 'back' pressed US_user4 no rules written just beeps until 'back' pressed PROGRAMS Do LCD Keys direct control from Pendant Do IR Keys direct control from IR remote RUN BOScon RUN Prog4 RUN Prog5 RUN Prog6 SETTINGS BacklightON LCD backlight ON BacklightOFF LCD backlight OFF - default go DO choice If a DO choice is set then go to that menu option if non set goes to top level OPTIONS seeFlags display flags IR watch ON set flag irwatch and respond to IR signals IR watch OFF clear flag irwatch and ignore IR signals - default DIRECT CONTROL(7) ================= OPTIONS - PROGRAMS - Do IR Keys - use a standard IR remote-control ------------------------------- On entry leds will go out after a 1 second wait for an IR idle signal The leds indicate in binary the current command-page, left=lowbit Pressing the 'back' button on the LCD keypad will return to MAIN(0). IR=trained keys IR action -- ------ 5 - selects Page0 6 - selects Page1 7 - selects Page2 8 - selects Page3 IR action Page0 commands latch -- ------------ 1 - Forward 2 - Backward 3 - Right turn 4 - Left turn IR action Page1 -- ------------ 1 - Sit 2 - stand Up 3 - Mid, stand with legs in mid position 4 - Kill servo power IR action Page2 -- ------------ 1 - Pick, lift gripper 1/4 travel 2 - Down, lower gripper 1/4 travel 3 - Open gripper 1/4 travel 4 - Close gripper 1/4 travel IR action Page3 -- ------------ 1 - return to MAIN(0) 2 - 3 - 4 - do US_wander wander about avoiding obstacles, any key returns back to this program . --------------------------------------------------------------------- OPTIONS - PROGRAMS - Do LCD Keys - use the LCDpad buttons -------------------------------- Keypad - key options on LCD --------------------------- | FBRLSUMKPDOCNQT| |back < > do | There is an underline cursor under one of the top line characters, change the position with the < > keys and press 'do' to do the command. Back returns to MAIN(0).